Fawkes API  Fawkes Development Version
playerc_thread.h
1 
2 /***************************************************************************
3  * playerc_thread.h - Thread that handles the Player client connection
4  *
5  * Created: Mon Aug 11 22:40:45 2008
6  * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_PLAYER_PLAYERC_THREAD_H_
24 #define _PLUGINS_PLAYER_PLAYERC_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <aspect/network.h>
32 #include <core/threading/thread.h>
33 
34 #include <list>
35 #include <map>
36 #include <string>
37 
38 namespace PlayerCc {
39 class PlayerClient;
40 class ClientProxy;
41 } // namespace PlayerCc
42 
43 namespace fawkes {
44 class ObjectPositionInterface;
45 }
46 
48 
51  public fawkes::LoggingAspect,
53  public fawkes::ClockAspect,
56 {
57 public:
58  /** Map for Fawkes interfaces. */
59  typedef std::map<std::string, fawkes::Interface *> InterfaceMap;
60 
61  /** Map for Player interfaces. */
62  typedef std::map<std::string, PlayerCc::ClientProxy *> ProxyMap;
63 
64  /** Map for proxy-interface mappers. */
65  typedef std::list<PlayerProxyFawkesInterfaceMapper *> MapperList;
66 
68 
69  virtual void init();
70  virtual void finalize();
71  virtual void loop();
72 
73  void sync_fawkes_to_player();
74 
75  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
76 protected:
77  virtual void
78  run()
79  {
80  Thread::run();
81  }
82 
83 private:
84  void open_fawkes_interfaces();
85  void open_player_proxies();
86  void create_mappers();
87 
88  void close_fawkes_interfaces();
89  void close_player_proxies();
90 
91 private:
92  PlayerCc::PlayerClient *client_;
93 
94  std::string cfg_player_host_;
95  unsigned int cfg_player_port_;
96 
97  InterfaceMap imap_;
98  ProxyMap pmap_;
99  MapperList mappers_;
100 };
101 
102 #endif
Player Client Thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
void sync_fawkes_to_player()
Sync Fawkes to player.
virtual void loop()
Code to execute in the thread.
std::map< std::string, fawkes::Interface * > InterfaceMap
Map for Fawkes interfaces.
PlayerClientThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
std::map< std::string, PlayerCc::ClientProxy * > ProxyMap
Map for Player interfaces.
std::list< PlayerProxyFawkesInterfaceMapper * > MapperList
Map for proxy-interface mappers.
Player proxy to Fawkes interface mapper interface.
Definition: mapper.h:29
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect for network communication.
Definition: network.h:35
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.